JPH10269497A - Automatic parking device and parked vehicle guiding device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily set up an objective parking section and to move or guide a vehicle to the objective parking section by specifying the entrance of a parking section, recognizing the entrance, executing the operation of a traveling track and the control of travel driving force or the like and automatically moving the vehicle to a parking position along the traveling track. SOLUTION: Markers 10, 20 are arranged on the entrance of a section on which a driver requires to park his or her vehicle. A marker recognizing device 31 is provided with a laser antenna arranged on the rear part of the vehicle and constituted so as to sense electric waves transmitted from communication equipments 11, 21 and detect the positions of the markers 10, 20. A parking control device 34 recognizes the entrance interval of the parking section or the like based on the detected positions of the markers 10, 20. Then a traveling track for moving the vehicle up to a parking position in the parking section through the entrance specified by the markers 10, 20 is calculated. When automatic parking is selected, the vehicle is automatically moved up to the parking position along the traveling track while controlling a driving power controller 34 or the like and feeding back a traveling distance or the like detected by a traveling distance sensor or the like.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic parking device and a parking guidance device for moving or guiding a vehicle by setting a parking point.

[0002]

2. Description of the Related Art A bar code sign (see FIG. 23) installed at a predetermined position in a parking section is imaged by a CCD sensor at the rear of a vehicle, a light / dark pattern of the bar code sign is detected, and bar code sign coordinates are calculated. 2. Description of the Related Art There is known an automatic parking device that calculates a relative position with respect to a vehicle based on barcode sign coordinates and guides the vehicle to a parking section (for example, Japanese Patent Application Laid-Open No. H05-205572).
2698).

[0003]

However, a conventional automatic parking system using a bar code sign cannot be used in a parking lot where no bar code sign is installed. In such a parking lot, it is conceivable that the occupant sets a bar code sign, but the bar code sign is large because the CCD sensor recognizes the bar code, it is difficult to carry, and there are places where it is difficult to install, There are difficulties in handling.

An object of the present invention is to provide an automatic parking device and a parking guidance device that can easily set a target parking section and move or guide a vehicle to the target parking section.

[0005]

[Means for Solving the Problems]

(1) The invention according to claim 1 is an entrance designating means for designating an entrance of a parking lot, an entrance recognizing means for recognizing the entrance designated by the entrance designating means, and passing through the entrance recognized by the entrance recognizing means. Track calculating means for calculating a running track to the parking position, and controlling the running driving force, braking force and steering of the vehicle, and automatically moving the vehicle to the parking position along the running track calculated by the track calculating means. Automatic parking control means. Recognize the entrance of the parking section designated by the entrance designating means, calculate the traveling trajectory through this entrance to the parking position, and control the traveling driving force, braking force, steering and automatic transmission of the vehicle to the traveling trajectory. Automatically move the vehicle along to the parking position. (2) In the automatic parking device according to claim 2, the entrance specifying means includes:
Two configurable markers having transmitters for designating the entrances installed on both sides of the entrance of the parking stall, and two signals transmitted by the two markers by the entrance recognition means.
The position of each marker is detected, and the entrance of the parking space is recognized. (3) In the automatic parking device according to claim 3, the entrance designating means includes:
An image pickup means for picking up an image of a parking section, and an image display means for displaying an image picked up by the image pickup means. Is converted to an entrance on the road surface. (4) The automatic parking device according to claim 4, wherein an interval detecting means for detecting an interval of the entrance designated by the entrance designating means, and a parking possibility determination for judging whether or not parking is possible based on the entrance interval detected by the interval detecting means. Means. (5) The automatic parking device according to claim 5 is provided with parallel parking availability determination means for determining availability of parallel parking based on the entrance interval detected by the interval detection means. (6) In the automatic parking device according to claim 6, when the parallel parking possibility determination means determines that parallel parking is not possible, the trajectory of garage parking is calculated by the track calculation means, and the garage parking is calculated by the automatic parking control means. The vehicle moves along a parking track. (7) The automatic parking device according to claim 7 is provided with a parking mode selection means for selecting parallel parking or garage parking, and when the parallel parking possibility determination section determines that parallel parking is possible, the automatic parking apparatus uses the parking mode selection section. According to the selected parking mode. (8) In the automatic parking device according to claim 8, when parallel parking is selected, the trajectory of parallel parking is calculated by the track calculating means, and the vehicle is moved along the parallel parking track by the automatic parking control means. It was made. (9) The automatic parking device according to claim 9 is a distance measuring means for measuring a distance to a road surface behind the vehicle, a failure detecting means for detecting a traveling obstacle behind the vehicle based on the distance measured by the distance measuring means, And stopping means for stopping the vehicle when an obstacle is detected behind the vehicle by the detecting means. (10) According to a tenth aspect of the present invention, there is provided an entrance designating means for designating an entrance of a parking lot, an entrance recognizing means for recognizing the entrance designated by the entrance designating means, and passing through the entrance recognized by the entrance recognizing means. A trajectory calculating means for calculating a traveling trajectory leading to the parking position, and guidance control means for instructing the occupant to perform a driving operation along the traveling trajectory computed by the trajectory computing means and guiding the occupant to the parking position. The entrance of the parking section designated by the entrance designating means is recognized, a traveling trajectory through the entrance to the parking position is calculated, and a driving operation is instructed to the occupant along the traveling trajectory to guide the vehicle to the parking position. (11) The parking guidance device according to claim 11, wherein the entrance designating means is two configurable markers which are installed on both sides of the entrance of the parking section and have transmitters for designating the entrance. The position of the two markers is detected based on the transmission signals from the two markers, and the entrance of the parking space is recognized. (12) In the parking guidance device according to a twelfth aspect, the entrance designating means has an image capturing means for capturing an image of the parking section and an image display means for displaying an image captured by the image capturing means. The entrance of the parking section is designated, and the entrance on the display screen is converted into the entrance on the road surface by the entrance recognition means. (13) A parking guidance device according to a thirteenth aspect, an interval detection unit that detects an interval between entrances designated by the entrance designation unit, and a parking possibility determination that determines whether parking is possible based on the entrance interval detected by the interval detection unit. Means. (14) A parking guidance device according to a fourteenth aspect is provided with parallel parking availability determination means for determining availability of parallel parking based on the entrance interval detected by the interval detection means. (15) The parking guidance device according to claim 15, when the parallel parking possibility determination means determines that parallel parking is not possible,
The trajectory of the garage parking is calculated by the trajectory calculation means, and the guidance is performed along the garage parking track by the guidance control means. (16) The parking guidance device according to claim 16 is provided with a parking mode selection unit that selects parallel parking or garage parking, and when the parallel parking determination unit determines that parallel parking is possible, the parking mode selection unit uses the parking mode selection unit. According to the selected parking mode. (17) In the parking guidance device according to claim 17, when parallel parking is selected, the trajectory of parallel parking is calculated by the trajectory calculation means, and guidance is provided along the parallel parking trajectory by the guidance control means. It is. (18) The automatic parking device or the parking guidance device according to claim 18 is a distance measurement unit that measures a distance to a road surface behind the vehicle, and a failure detection that detects a traveling obstacle behind the vehicle based on the distance measured by the distance measurement unit. Means and a stopping means for stopping the vehicle when a fault is detected behind the vehicle by the fault detecting means. (19) The invention according to claim 19 is applied to an automatic parking device that calculates a traveling path to a parking position in a parking section and automatically moves a vehicle to a parking position along the traveling path. Markers are installed on both sides of the entrance, and the positions of those markers are detected to recognize the parking lot. (20) The automatic parking device according to a twentieth aspect determines garage parking or parallel parking based on the installation intervals of the markers. (21) The invention of claim 21 is applied to a parking guidance device that calculates a traveling trajectory to a parking position in a parking section, instructs an occupant to perform a driving operation along the traveling trajectory, and guides the occupant to the parking position, Markers are installed on both sides of the entrance of the parking space, and the positions of those markers are detected to recognize the parking space. (22) In the parking guidance device according to claim 22, garage parking or parallel parking is determined based on the installation intervals of the markers.

[0006]

【The invention's effect】

(1) According to the first aspect of the present invention, the entrance of the parking section designated by the entrance designating means is recognized, the traveling trajectory passing through the entrance to the parking position is calculated, and the traveling driving force, the braking force, and the driving force of the vehicle are calculated. Since the steering is controlled to automatically move the vehicle to the parking position along the traveling track, the parking section can be easily set at an arbitrary location. (2) According to the second aspect of the present invention, the entrance specifying means is provided on both sides of the entrance of the parking section, and is a configurable two markers having a transmitter for designating the entrance. Since the positions of the two markers are detected by the transmission signal to recognize the entrance of the parking section, the entrance designating means can be reduced in size and the handling becomes easy. (3) According to the third aspect of the present invention, the parking section is imaged, the captured image is displayed, the entrance of the parking section is designated on the display screen, and the entrance on the display screen is converted to the entrance on the road surface. As a result, it is possible to specify the entrance of the parking section while the user is in the vehicle. (4) According to the fourth aspect of the present invention, the interval between entrances designated by the entrance designation means is detected, and whether or not parking is possible is determined based on the detected entrance interval. I can judge. (5) According to the fifth aspect of the invention, the interval between the entrances designated by the entrance designation means is detected, and the possibility of parallel parking is determined based on the detected entrance interval. Can be accurately determined. (6) According to the invention of claim 6, when parallel parking is determined to be impossible, the trajectory of garage parking is calculated, and the vehicle is moved along the garage parking track. The occupant does not have to perform a judgment operation, and the operability is improved. (7) According to the seventh aspect of the invention, when it is determined that parallel parking is possible, the parking mode selected by the occupant by the selection operation is followed, so that an arbitrary mobile phone can be selected. (8) According to the invention of claim 8, when the parallel parking is selected, the trajectory of the parallel parking is calculated, and the vehicle is moved along the parallel parking trajectory. And the operability is improved. (9) According to the ninth aspect of the present invention, the distance to the road surface behind the vehicle is measured, a traveling obstacle behind the vehicle is detected based on the measured distance, and when the obstacle is detected behind the vehicle, the vehicle is stopped. As a result, even if there is a running obstacle such as a wall, a hill or a car stop behind the parking space, the vehicle can be reliably stopped, and safety is improved. (10) According to the tenth aspect of the present invention, the entrance of the parking section designated by the entrance designating means is recognized, the traveling path through the entrance to the parking position is calculated, and the occupant operates along the traveling path. Since the operation is instructed and guided to the parking position, the parking section can be easily set at an arbitrary location. (11) According to the invention of claim 11, the entrance designating means is provided on both sides of the entrance of the parking space, and is a configurable two markers having a transmitter for designating the entrance. Since the positions of the two markers are detected by the transmission signal to recognize the entrance of the parking section, the entrance designating means can be reduced in size and the handling becomes easy. (12) According to the twelfth aspect of the invention, the parking section is picked up, the picked-up image is displayed, the entrance of the parking section is designated on the display screen, and the entrance on the display screen is converted into the entrance on the road surface. As a result, it is possible to specify the entrance of the parking section while the user is in the vehicle. (13) According to the thirteenth aspect, the interval between entrances designated by the entrance designation means is detected, and whether or not parking is permitted is determined based on the detected entrance interval. I can judge. (14) According to the fourteenth aspect, the interval of the entrance designated by the entrance designating means is detected, and the possibility of parallel parking is determined based on the detected entrance interval. Can be accurately determined. (15) According to the invention of claim 15, when parallel parking is determined to be impossible, the trajectory of garage parking is calculated,
Since the occupant is guided along the garage parking track, the occupant does not have to perform the judgment operation, and the operability is improved. (16) According to the sixteenth aspect of the invention, when it is determined that parallel parking is possible, the parking mode selected by the occupant through the selection operation is followed, so that an arbitrary mobile phone can be selected. (17) According to the seventeenth aspect, when parallel parking is selected, the trajectory of parallel parking is calculated, and the occupant is guided along the parallel parking trajectory. And the operability is improved. (18) According to the eighteenth aspect of the invention, the distance to the road surface behind the vehicle is measured, a traveling obstacle behind the vehicle is detected based on the measured distance, and the vehicle is stopped when the obstacle is detected behind the vehicle. As a result, even if there is a running obstacle such as a wall, a hill or a car stop behind the parking space, the vehicle can be reliably stopped, and safety is improved. (19) According to the invention of claim 19, markers are installed on both sides of the entrance of the parking section, and the positions of these markers are detected to recognize the parking section, so that the parking section can be easily placed at any place. Can be set to (20) According to the twentieth aspect, the garage parking or the parallel parking is determined based on the installation intervals of the markers, so that it is possible to accurately determine whether or not the vehicle is parked. (21) According to the twenty-first aspect, the same effect as the nineteenth aspect can be obtained. (22) According to the twenty-second aspect, the same effect as the twentieth aspect can be obtained.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION

-First Embodiment of the Invention- FIG. 1 is a diagram showing a configuration of a first embodiment. In the first embodiment, two markers 10 and 20 and an in-vehicle device 3
0.

FIGS. 2A and 2B show a marker according to the first embodiment, wherein FIG. 2A is a top view and FIG. 2B is a side view. The markers 10 and 20 are installed on both sides of the entrance of the compartment where the occupant wants to park, and are thin disk-shaped so as not to hinder the movement of the vehicle, and are formed firmly so as not to be damaged even if the vehicle gets over. Each of the markers 10 and 20 has built-in communication devices 11 and 21 for communicating with the in-vehicle device 30 and indicator lights 12 and 22 which light up in green and red, and emit radio waves indicating the position of the entrance of the parking space. At the same time, it lights up in red or green in response to a command from the vehicle-mounted device 30.
When the vehicle moves to the parking section, it is lit green when traveling on the traveling track up to the preset parking position,
When the vehicle deviates from the running track, it lights up in red and a warning to correct the track is given.

On the other hand, as shown in FIG. 1, a vehicle-mounted device 30 mounted on a vehicle includes a marker recognition device 31 and a communication device 3.
2, input device 33, parking control device 34, display device 35,
A driving force control device 36, a braking force control device 37, a steering control device 38, an automatic transmission 39, and the like are provided.

As shown in FIG. 3, the marker recognition device 31 has radar antennas 31a and 31b at the rear of the vehicle, and detects radio waves transmitted from the communication devices 11 and 21 of the markers 10 and 20 to detect the markers 10 and 20. Detect the position of. That is, as shown in FIG.
1a detects the direction d2 of the marker,
Direction d of the same marker by radar antenna 31a
1 is detected, and the marker position is detected based on the principle of triangulation based on the detection directions d1 and d2. Thus, the relative positional relationship between the vehicle and the markers 10 and 20 and the markers 10 and 20
Can be recognized.

Although the radio wave is used to detect the position of the marker in the first embodiment, the marker position may be detected using magnetism or laser light.

The above-mentioned communication device 32 includes the markers 10 and 20.
Of the display lamps is transmitted to the communication devices 11 and 21. The input device 33 includes input devices and operation devices such as a start switch for starting parking control. The parking control device 34 is constituted by a microcomputer and its peripheral parts, executes a parking control program described later, recognizes a marker position, determines whether or not to park in a target parking section, calculates a traveling trajectory to the parking position, and performs target parking. It performs parking guidance control to a section, automatic parking control to a target parking section, and the like.

The display device 35 displays various kinds of information relating to parking control. When parking is not possible, a warning is given by display and sound. The driving force control device 36 is a device that automatically changes the traveling driving force of the vehicle, and the braking force control device 37 is a device that automatically generates the braking force of the vehicle. The steering control device 38 is a device that automatically steers the steered wheels of the vehicle, and the automatic transmission device 39 is a device that automatically switches the transmission mechanism of the vehicle between forward D, reverse R, neutral N, and parking P. .

FIG. 5 is a flowchart showing a parking control program executed by the parking control device 34. The operation of the first embodiment will be described with reference to this flowchart. The occupant installs the markers 10 and 20 on both sides of the entrance of the parking section if there is a place where parking is possible in the parking lot. Here, in the case where the vehicle is parked side by side in a row (in this specification, such a parking form is referred to as garage parking), as shown in FIG. 10 and 20 are installed. In the case of parallel parking in a row in a row, markers 10 and 20 are installed on both sides of a place considered to be an entrance of the parking section as shown in FIG. Then, the user operates the start switch of the input device 33 to start the parking control.

When the start switch of the input device 33 is operated in step 1, the parking control device 34 executes step 2.
The subsequent parking control is started. In step 3, the positions of the markers 10 and 20 are detected by the marker recognizing device 31, and the marker 1 is determined based on the detected marker positions.
The relative position between the entrance of the parking section designated by 0 and 20 and the vehicle, the marker interval, that is, the entrance interval of the parking section, and the like are recognized. In step 4, it is determined whether or not parking is possible through the entrance between the markers 10 and 20 installed by the occupant. If the marker interval is smaller than the overall width of the vehicle in consideration of the passenger's getting-in / out margin, it is determined that it is impossible to enter the parking section through the entrance set by the markers 10 and 20, and the process proceeds to step 14 and is displayed. A warning is issued by the device 35 and the control is terminated.

Here, as shown in FIG. 8, the passenger's getting-in / out allowance is a space S in which the driver can get on and off by opening at least the driver's seat door, and is a value preset by the input device 33. . For example, when the width of the vehicle is 1.8 m and the entry / exit margin setting value is 0.7 m, it is determined that parking is impossible if the marker interval is less than a total value of 2.5 m of both.

The driver's boarding / exiting margin S may be calculated based on the length and thickness of the driver's seat door of the vehicle and the opening angle of the driver when the driver gets on the vehicle.

If it is possible to park at the marker interval, it is determined in step 5 whether parallel parking is possible based on the marker interval. If the marker interval is smaller than the parallel parking interval, it is determined that parallel parking is not possible but garage parking is possible, and the process proceeds to step 7. When the marker interval is equal to or longer than the entrance interval at which parallel parking is possible, it is determined that parallel parking is possible, and the process proceeds to step 8.

Here, as shown in FIG. 9, the parallel parking interval is the entrance interval of a parking section through which the vehicle can pass when the vehicle is moved to the parking position by the steering with the minimum turning radius. Is a vehicle-specific value determined by the dimensions and the minimum turning radius.

Referring to FIG. 10, a description will be given of a calculation example of the entrance interval at which parallel parking is possible. Now, the overall length of the vehicle is 5.0m, the overall width is 1.8m, the wheelbase is 2.8m, and the tread is 1.
5 m, the front overhang is 1.0 m, and the minimum turning radius is 5.5 m. Also, in the figure, A is the left front wheel, B is the left rear wheel, C is the left end of the rear axle, D is the right end of the rear axle, E is the left front end, E 'is the left front end after turning, F is the right front end, O is the turning center. The length of AO is 5.5 m and the length of AB is 2.
8m, so the length of BO is about 4.73 from ABO
m. Further, since the length of CB is 0.15 m from the values of the total width and the tread, the length of CO is about 4.88 m. Since the length of EC is 3.8m from the wheelbase and front overhang, EO (E '
O) The length is about 6.19 m. Further, since the length of DO becomes approximately 3.08 m by subtracting the full width from CO, △
The length of E'D is about 5.36 m from E'DO. FD
The length of E'F is about 1.56 m because the length of E'F is 3.8 m, which is the same as EC, and the interval between the entrances of the parking sections where parallel parking is possible is about 6.56 m.

If parallel parking is possible, the parking mode selected by the occupant in step 6 is confirmed. The occupant can select garage parking or parallel parking using the input device 33. The garage parking and the parallel parking may not be selected by the occupant, and the parallel parking may be performed when the parallel parking is possible.

If garage parking has been selected, the process proceeds to step 7, and if parallel parking has been selected, the process proceeds to step 8. In the case of garage parking, in step 7, as shown in FIG. 11, the position in the parking space to be parked is set. This parking position is a position designated by the occupant using the input device 33. If the occupant does not specify a parking position, a predetermined default position is set. Alternatively, a predetermined default position may be set without inputting the parking position by the occupant. The default position is, for example, as close to the passenger's seat as possible in the parking section, and such that the leading end of the vehicle becomes the entrance to the parking section.

On the other hand, in the case of parallel parking, in step 8, as shown in FIG. 12, a position in the parking section to be parked is set. This parking position is a position designated by the occupant on the input device 33. If the occupant does not specify a parking position, a predetermined default position is set. Alternatively, a predetermined default position may be set without inputting the parking position by the occupant. The default position is, for example, as close to the rear of the parking space as possible, such that the side of the vehicle is the entrance to the parking space.

In step 9, a traveling trajectory for moving the vehicle through the entrance designated by the markers 10, 20 to the parking position in the parking section is calculated according to the selected condition. With reference to FIG. 13 and FIG. 14, a method of calculating the traveling trajectory of garage parking and parallel parking will be described.

FIG. 13 shows a running track in the case of garage parking. An arc of the minimum turning radius that contacts both the vehicle center line at the initial position at the start of automatic parking or the start of parking guidance and the vehicle center line at the parking position is determined, and the arc, the vehicle center line at the initial position, and the parking position And the vehicle center line in the above, constitute a running track. From the initial position at the start of automatic parking or at the start of parking guidance, depart along the vehicle center line at the initial position, and move along the arc from the point where the vehicle center line at the initial position and the arc of the minimum turning radius meet. to continue. Further, the vehicle moves along the vehicle center line at the parking position from a point where the circular arc contacts the vehicle center line at the parking position, stops at the parking position, and completes garage parking.

FIG. 14 shows a running track in the case of parallel parking. In the case of parallel parking, the traveling trajectory is calculated by calculating backward from the parking position. That is, the position of the vehicle when the front left end of the vehicle crosses between the markers when the vehicle turns forward from the parking position by turning right with the minimum turning radius is calculated. further,
An arc having a minimum turning radius that contacts both the vehicle center line at the vehicle position when the vehicle left front end crosses between the markers and the vehicle center line at the initial position when automatic parking starts or parking guidance starts is obtained. The arc, the vehicle center line at the initial position, and the vehicle center line at the vehicle position when the front left end of the vehicle crosses between the markers constitute a running track. From the initial position at the start of automatic parking or at the start of parking guidance, depart along the vehicle center line at the initial position, and move along the arc from the point where the vehicle center line at the initial position and the arc of the minimum turning radius meet. to continue.
Furthermore, from the point where the arc and the vehicle center line at the vehicle position when the vehicle left front end crosses between the markers,
Turn left with the minimum turning radius and retreat to the parking position.

In step 10, it is determined whether or not the calculated traveling trajectory can actually travel. Here, it is determined that the vehicle can travel if the traveling track passes through the entrance of the parking section between the markers 10 and 20 and there is room to prevent the vehicle body from climbing over the markers 10 and 20. If the vehicle cannot travel, the process proceeds to step 14, a warning is issued, and the parking control ends. On the other hand, if the vehicle can run, it is determined at step 11 whether the occupant has selected automatic parking or parking guidance. The occupant can select between an automatic parking mode in which parking is performed completely automatically by the input device 33 and a parking guidance mode in which a driving operation is instructed by display and voice to guide the vehicle to a parking position. Incidentally, without automatic parking or parking induction or selection by the occupant, it may be fixed in advance to either.

When the automatic parking is selected, the driving force control device 36, the braking force control device 37, the steering control device 38 and the automatic transmission 39 are controlled in step 12, and the traveling distance sensor (not shown) and the steering angle are controlled. The vehicle is automatically moved to the parking position along the traveling track while feeding back the traveling distance and the steering angle detected by the sensor. On the other hand, when the parking guidance is selected, the display operation and the sound by the display device 35 and the driving operation are instructed by the display lamps 11 and 21 of the markers 10 and 20 in step 13, and the driving distance sensor and the steering angle sensor are used. The occupant is guided to the parking position along the traveling track while feeding back the detected traveling distance and steering angle.

As described above, the markers are installed on both sides of the entrance of the parking section, the positions of those markers are detected, the parking section is recognized, the traveling path to the parking position in the parking section is calculated, and the traveling path is calculated. Since the vehicle is moved or guided along, the entrance designating means can be reduced in size, the handling becomes easy, and the parking space can be easily set at an arbitrary place. Further, since the garage parking or parallel parking is determined based on the marker installation interval, the occupant determination operation is omitted, and the operability is improved.

In the configuration of the first embodiment,
The markers 10 and 20 are entrance designation means, the marker recognition device 31 and the parking control device 34 are entrance recognition means, and the parking control device 34 is a track calculation means, an automatic parking control means, an interval detection means, a parking possibility determination means, a parallel parking. The input device 33 constitutes a parking mode selection unit, and the input device 33 constitutes the availability determination unit and the guidance control unit.

Second Embodiment of the Invention In the first embodiment, an example has been described in which the occupant detects the positions of the markers installed on both sides of the entrance of the parking section and performs automatic parking or parking guidance. Instead of installing this marker,
A second embodiment in which a surrounding environment of a vehicle is imaged and an entrance of a parking section is specified on an imaging screen will be described.

FIG. 15 shows the configuration of the second embodiment.
The same components as those shown in FIG. 1 are denoted by the same reference numerals, and the description will focus on the differences. The second embodiment includes only the in-vehicle device 40. This in-vehicle device 40
Is a CCD camera 41, an image processing device 42, an input device 4
3, a parking control device 44, a display device 35, a driving force control device 36, a braking force control device 37, a steering control device 38, an automatic transmission 39, and indicator lights 45 and 46.

The CCD camera 41 is buried inside the trunk lid at the rear of the vehicle as shown in FIG. 16, and captures an image of the environment around the vehicle. The number and arrangement of the CCD cameras are not limited to this embodiment. The image processing device 42
An image captured by the CD camera 41 is processed, and a position on the screen specified by a cross cursor, a light pen, or the like is detected. The input device 43 includes, in addition to the start switch for starting the parking control described above, a direction key for moving a cross cursor of the display device 35, an input device such as a light pen, an operation device, and the like.

The display device 35 displays an image captured by the CCD camera 41. Indicator lights 45 and 46 are respectively arranged on the left and right on the rear parcel as shown in FIG.
When the vehicle moves to the parking section, it is lit green when traveling on the traveling track up to the preset parking position,
When the vehicle deviates from the running track, it lights up in red and a warning to correct the track is given. These indicator lights 45 and 46 correspond to the indicator lights 12 and 22 of the markers 10 and 20 of the first embodiment. Instead of the indicator lights 45 and 46, the vicinity of the entrance of the parking section on the image of the surrounding environment of the vehicle may be displayed in green or red. It is more secure to provide an indicator light in the area.

FIG. 18 shows an example of an image of the environment around the vehicle captured by the CCD camera 41 and displayed on the display device 35. At an initial position at the start of automatic parking or at the start of parking guidance, two points on both sides of the entrance of the parking section are designated by a cross cursor or a light pen of the input device 43 on an image of the surrounding environment captured by the CCD camera 41. . The image processing device 42 detects the screen coordinates of these two points and converts them into actual road coordinates.

FIG. 19 shows the relationship between the screen coordinate system x, y and the road coordinate system X, Y, Z. The focal length of the lens of the CCD camera 41 is F, the ground clearance of the CCD camera 41 is H, CC
Assuming that the pitch angle of the lens optical axis of the D camera 41 with respect to the ground is θ, the screen coordinate system x, y is converted into the road coordinate system X,
Y and Z can be converted.

X = −FX / {− (Y−H) sin θ + Z cos θ}, y = −F {(Y−H) cos θ + Z sin θ} / ｛−
(Y−H) sin θ + Zcos θ｝ Assuming that two points specified to specify the entrance of the parking section are on the road surface and Y = 0, the road coordinates of the two specified points can be obtained.

In the parking control according to the second embodiment, the surrounding environment of the vehicle is imaged in comparison with the first embodiment in which the markers installed on both sides of the entrance of the parking section recognize the entrance of the parking section. Except for designating the entrance of the parking section on the surrounding environment screen, it is the same as the parking control of the first embodiment shown in FIG. 5, and the description is omitted.

As described above, since the surrounding environment of the vehicle is imaged and the entrance of the parking section is designated on the imaged screen, it is not necessary for the occupant to get off the vehicle and set a marker at the entrance of the parking section. And the operability is improved. In addition, indicator lights are installed on the left and right of the rear parcel of the vehicle, so that it lights green when traveling on a preset traveling track and red when off the traveling track. There is no need to look at the display screen of the display device provided on the instrument panel, and the safety in the case of parking guidance is improved.

In the configuration of the second embodiment,
The CCD camera 41, the image processing device 42, the input device 43, and the display device 35 serve as entrance specifying means.
Is an image pickup means, the display device 35 is an image display means, the image processing device 42 and the parking control device 44 are entrance recognition means,
The parking control device 44 includes a track calculation unit, an automatic parking control unit,
The input device 43 constitutes an interval detecting means, a parking possibility judging means, a parallel parking possibility judging means and a guidance control means, and the parking mode selecting means.

-Third Embodiment of the Invention- In the first and second embodiments described above, the travel distance and the steering angle are detected and fed back, and the detected travel distance and steering angle are calculated along the calculated travel trajectory. Although the example in which the vehicle is moved or guided to the parking position has been described, a function of reliably preventing collision with an obstacle such as a wheelchair or a wall in the parking space may be added. A third embodiment in which an obstacle behind a vehicle is detected and the vehicle is automatically stopped will be described.

FIG. 20 shows a distance measuring sensor embedded in a rear bumper of a vehicle. The distance measuring sensors 51 and 52 are optical sensors, and irradiate the light obliquely downward behind the vehicle and receive the reflected light to measure the distance to the road surface behind the vehicle as shown in FIG. The distance measuring sensors 51 and 52 may be radio wave sensors or laser radars.

FIG. 22 shows the result of distance measurement by the distance measurement sensor. When the inside of the parking space is flat, a fixed distance is always measured. In this case, since there is no obstacle behind the vehicle, there is no problem if the driving operation is erroneous in the case of parking guidance.

When the interior of the parking space is partitioned by a wall,
When there is a parked vehicle in the back of the parking section, or when there is an uphill in the back of the parking section, the distance measurement sensors 51 and 52 are used.
The measurement distance gradually becomes shorter from the time when light from the camera hits a wall or uphill. Therefore, when the distance measurement value decreases to a predetermined value, it is determined that there is an obstacle such as a wall or an uphill in the back of the parking section,
Stop automatically.

When there is a downhill in the back of the parking space, the measuring distance gradually increases from the time when the light from the distance measuring sensors 51 and 52 hits the hill. Therefore, when the measured distance value increases to a predetermined value, it is determined that there is a downhill in the back of the parking section, and the vehicle is automatically stopped.

Further, when there is a wheel stopper in the back of the parking section, a distance measurement result as shown by a broken line in the figure is obtained. When the distance measurement result of such a pattern is obtained, it is determined that there is a wheel stop behind the parking section, and the vehicle is automatically stopped at a position retracted a predetermined distance after detecting the wheel stop.

The obstacle detection and the stop control based on the distance measurement results of the distance measurement sensors 51 and 52 are performed by the above-described parking control device 3.
4 or 44.

Since the third embodiment is added to the first and second embodiments described above, the description of the configuration and operation of the entire apparatus will be omitted.

As described above, at the time of the automatic parking control or the parking guidance control, the obstacle behind the vehicle is detected and the vehicle is automatically stopped, so that there is no obstacle such as a wall, a hill or a car stop behind the parking section. However, the vehicle can be reliably stopped, and safety in parking control can be improved.

In the configuration of the above third embodiment,
The distance measuring sensors 51 and 52 constitute distance measuring means, and the parking control devices 34 and 44 constitute obstacle detecting means and stopping means, respectively.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of a first embodiment.

FIG. 2 is a diagram showing a top surface and a side surface of a marker.

FIG. 3 is a diagram showing an arrangement of a laser antenna of the marker recognition device.

FIG. 4 is a diagram illustrating a method for detecting a marker position.

FIG. 5 is a flowchart illustrating parking control according to the first embodiment.

FIG. 6 is a diagram showing a marker installation position in the case of garage parking.

FIG. 7 is a diagram showing the installation positions of markers in the case of parallel parking.

FIG. 8 is a view showing a passenger's getting-in / out margin.

FIG. 9 is a diagram for explaining an interval between entrances where parallel parking is possible.

FIG. 10 is a diagram illustrating a method of calculating an entrance interval capable of parallel parking based on the size of the vehicle and the minimum turning radius.

FIG. 11 is a diagram showing a parking position in a parking section in the case of garage parking.

FIG. 12 is a diagram showing a parking position in a parking section in the case of parallel parking.

FIG. 13 is a diagram illustrating a method of calculating a traveling trajectory up to a parking position in the case of garage parking.

FIG. 14 is a diagram illustrating a method of calculating a traveling trajectory up to a parking position in the case of parallel parking.

FIG. 15 is a diagram illustrating a configuration of a second embodiment.

FIG. 16 is a diagram showing an arrangement of CCD cameras.

FIG. 17 is a diagram showing an arrangement of indicator lights.

FIG. 18 is a diagram showing a captured image of a vehicle surrounding environment by a CCD camera.

FIG. 19 is a diagram illustrating a relationship between an imaging screen coordinate system of a vehicle surrounding environment and an actual road coordinate system.

FIG. 20 is a diagram showing an arrangement of a distance measuring sensor.

FIG. 21 is a diagram illustrating a measurement method using a distance measurement sensor.

FIG. 22 is a diagram showing a result of distance measurement by a distance measurement sensor.

FIG. 23 is a view showing a bar code sign of a conventional automatic parking device.

[Explanation of symbols]

 10, 20 Marker 11, 21 Communication device 12, 22 Indicator light 30 In-vehicle device 31 Marker recognition device 31a, 31b Laser antenna 32 Communication device 33 Input device 34 Parking control device 35 Display device 36 Driving force control device 37 Braking force control device 38 Steering control device 39 Automatic transmission device 40 In-vehicle device 41 CCD camera 42 Image processing device 43 Input device 45, 46 Indicator light 51, 52 Distance measuring sensor

Claims (22)

[Claims] 1. An entrance designating means for designating an entrance of a parking section, an entrance recognizing means for recognizing an entrance designated by the entrance designating means, and a parking position passing through the entrance recognized by the entrance recognizing means. Track calculating means for calculating a running track to reach; automatic parking for controlling the driving force, braking force and steering of the vehicle and automatically moving the vehicle to a parking position along the running track calculated by the track calculating means. An automatic parking device, comprising: a control unit. 2. The automatic parking device according to claim 1, wherein the entrance designating means is two configurable markers having transmitters for designating entrances at both sides of the entrance of the parking space. An automatic parking device, wherein the entrance recognition means detects a position of the two markers based on a transmission signal from the two markers and recognizes an entrance of a parking section. 3. The automatic parking device according to claim 1, wherein the entrance designating means is an imaging means for imaging a parking section,
Image display means for displaying an image picked up by the image pickup means, and specifying an entrance of a parking section on a display screen of the image display means, wherein the entrance recognition means sets an entrance on the display screen on a road surface. An automatic parking device characterized by converting to an entrance. 4. The automatic parking device according to claim 1, wherein an interval detecting unit that detects an interval between the entrances designated by the entrance designating unit; An automatic parking device comprising: a parking possibility determination unit configured to determine whether parking is possible based on an entrance interval. 5. The automatic parking device according to claim 4, further comprising: parallel parking availability determination means for determining availability of parallel parking based on an entrance interval detected by said interval detection means. apparatus. 6. The automatic parking device according to claim 5, wherein when the parallel parking possibility determination means determines that parallel parking is not possible, the track calculation means calculates a garage parking track. An automatic parking device, wherein the automatic parking control means moves the vehicle along the garage parking track. 7. The automatic parking device according to claim 5, further comprising a parking mode selection unit that selects parallel parking or garage parking, wherein when the parallel parking determination unit determines that parallel parking is possible, The automatic parking device according to the parking mode selected by the parking mode selecting means. 8. The automatic parking device according to claim 5, wherein when parallel parking is selected, the trajectory calculation means calculates a trajectory of parallel parking, and the automatic parking control means controls the trajectory of the parallel parking. An automatic parking device for moving a vehicle along a parallel parking track. 9. The automatic parking device according to claim 1, wherein a distance measuring unit that measures a distance to a road surface behind the vehicle, and a vehicle rear based on a distance measured by the distance measuring unit. An automatic parking apparatus, comprising: a failure detection unit that detects a traveling failure of the vehicle; and a stopping unit that stops the vehicle when the failure detection unit detects a failure behind the vehicle. 10. An entrance designating means for designating an entrance of a parking section, an entrance recognizing means for recognizing the entrance designated by the entrance designating means, and a parking position passing through the entrance recognized by the entrance recognizing means. Parking guidance, comprising: a track calculating means for calculating a traveling track to be reached; and guidance control means for instructing a driver to perform a driving operation along the running track calculated by the track calculating means and guiding the passenger to a parking position. apparatus. 11. The parking guidance device according to claim 10, wherein the entrance designating means is two configurable markers having transmitters installed on both sides of the entrance of the parking space to designate the entrance. A parking guidance device, wherein the entrance recognition means detects a position of the two markers based on a transmission signal from the two markers and recognizes an entrance of a parking section. 12. The parking guidance device according to claim 10, wherein the entrance designating unit captures an image of a parking section,
Image display means for displaying an image picked up by the image pickup means, and specifying an entrance of a parking section on a display screen of the image display means, wherein the entrance recognition means sets an entrance on the display screen on a road surface. A parking guidance device characterized by converting to an entrance. 13. The parking guidance device according to claim 10, wherein an interval detection unit that detects an interval between entrances designated by the entrance designation unit, and the distance is detected by the interval detection unit. A parking guidance device comprising: parking possibility determination means for determining whether parking is possible based on an entrance interval. 14. The parking guidance device according to claim 13, further comprising: parallel parking availability determination means for determining availability of parallel parking based on an entrance interval detected by said interval detection means. apparatus. 15. The parking guidance device according to claim 14, wherein when the parallel parking determination unit determines that parallel parking is not possible, the track calculation unit calculates a garage parking track. The guidance control device guides the vehicle along the garage parking track. 16. The parking guidance device according to claim 14, further comprising a parking mode selection unit that selects parallel parking or garage parking, wherein when the parallel parking determination unit determines that parallel parking is possible, A parking guidance device according to a parking mode selected by the parking mode selecting means. 17. The parking guidance device according to claim 14, wherein when parallel parking is selected, the trajectory calculation means calculates a trajectory of parallel parking, and the guidance control means controls the trajectory of the parallel parking. A parking guidance device for guiding along a parking trajectory. 18. The parking guidance device according to claim 10, wherein a distance measuring unit that measures a distance to a road surface behind the vehicle, and a vehicle rearward based on a distance measured by the distance measuring unit. A parking guidance device, comprising: a failure detection unit that detects a traveling failure of the vehicle; and a stopping unit that stops the vehicle when the failure detection unit detects a failure behind the vehicle. 19. An automatic parking device that calculates a traveling path to a parking position in a parking section and automatically moves a vehicle to a parking position along the traveling path, wherein markers are installed on both sides of an entrance of the parking section. An automatic parking device for detecting a position of the marker and recognizing a parking section. 20. The automatic parking device according to claim 19, wherein garage parking or parallel parking is determined based on an installation interval of the marker. 21. A parking guidance device which calculates a traveling path to a parking position in a parking section, instructs an occupant to perform a driving operation along the traveling path and guides the driver to the parking position, wherein markers are provided on both sides of the entrance of the parking section. A parking guidance device that detects a position of the marker and recognizes a parking section. 22. The parking guidance device according to claim 21, wherein garage parking or parallel parking is determined based on an installation interval of the marker.